DUNE::Control::DiscretePID Class Reference

Public Member Functions
	DiscretePID (void)
	~DiscretePID (void)
void	setGains (const std::vector< float > &gains)
void	setProportionalGain (float gain)
void	setIntegralGain (float gain)
void	setDerivativeGain (float gain)
void	setOutputLimits (float lower, float upper)
void	setIntegralLimits (float value)
void	enableParcels (Tasks::Task *t, IMC::ControlParcel *p)
float	step (double timestep, float error)
float	step (double timestep, float error, float err_derivative)
void	reset (void)

Constructor & Destructor Documentation

DUNE::Control::DiscretePID::DiscretePID

(

void

)

Constructor.

References reset().

DUNE::Control::DiscretePID::~DiscretePID

(

void

)

Destructor.

Member Function Documentation

void DUNE::Control::DiscretePID::enableParcels	(	Tasks::Task *	t,
		IMC::ControlParcel *	p
	)

Enable debug using control parcels logged using bus dispatch.

Parameters

[in]	t	pointer to a task object.
[in]	p	pointer to control parcel message.

void DUNE::Control::DiscretePID::reset

(

void

)

Reset pid variables.

Referenced by DiscretePID().

void DUNE::Control::DiscretePID::setDerivativeGain

(

float

gain

)

Set derivative gain.

Parameters

[in]

gain

derivative gain p.

void DUNE::Control::DiscretePID::setGains

(

const std::vector< float > &

gains

)

Set PID gains using vector.

Parameters

[in]

gains

pid gains vector in order p, i, d.

void DUNE::Control::DiscretePID::setIntegralGain

(

float

gain

)

Set integral gain.

Parameters

[in]

gain

integral gain i.

void DUNE::Control::DiscretePID::setIntegralLimits

(

float

value

)

Set integral bounds (limits).

Parameters

[in]

value

absolute value of bound, lower bound will be negative.

void DUNE::Control::DiscretePID::setOutputLimits	(	float	lower,
		float	upper
	)

Set output upper and lower limit.

Parameters

[in]	lower	lower limit.
[in]	upper	upper limit.

void DUNE::Control::DiscretePID::setProportionalGain

(

float

gain

)

Set proportional gain.

Parameters

[in]

gain

proportional gain p.

float DUNE::Control::DiscretePID::step	(	double	timestep,
		float	error
	)

Step forward, using an internal error derivative estimate.

Parameters

[in]	timestep	amount of time to be used in derivative and integral part.
[in]	error	error between reference and measure.

Returns

pid output.

float DUNE::Control::DiscretePID::step	(	double	timestep,
		float	error,
		float	err_derivative
	)

Step forward, using the supplied error derivative.

Parameters

[in]	timestep	amount of time to be used in derivative and integral part.
[in]	error	error between reference and measure.
[in]	err_derivative	error derivative.

Returns

pid output.

References DUNE::IMC::ControlParcel::d, DUNE::Tasks::Task::dispatch(), DUNE::IMC::ControlParcel::i, DUNE::IMC::ControlParcel::p, and DUNE::Math::trimValue().

Collaboration diagram for DUNE::Control::DiscretePID: